/*
 * The MIT License
 *
 * Copyright (c) 2007 MIT 6.270 Robotics Competition
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 */

/* Gyro demo program for gyro with noise injection.
   Howard Samuels, 11/16/2004 
   howard.samuels@analog.com
   
   Modified for Happyboard
   Ross Glashan, 07/05/2005
   rng@mit.edu
*/

#include <joyos.h>

#define GYRO_PORT 		11
#define LSB_US_PER_DEG	1400000

uint8_t team_number={1,0};

// usetup is called during the calibration period. It must return before the
// period ends.
int usetup (void) {
	printf_P (PSTR("\nPlace robot,    press go."));
	go_click ();
	printf_P (PSTR("\nStabilizing..."));
	pause (500);
	printf_P (PSTR("\nCalibrating     offset...\n"));
	gyro_init (GYRO_PORT, LSB_US_PER_DEG, 500L);
	return 0;
}

int umain(void) {
	for (;;) {
		printf_P (PSTR("\ntheta = %.2f"), gyro_get_degrees());
		pause (100);
	}
	return 0;
}

